From Nonlinear to Hamiltonian via Feedback1
Abstract
Mechanical control systems are a very important class of nonlinear control systems. They possess a rich mathematical structure which can be extremely important for the solution of various control problems. In this paper, we expand the applicability of design methodologies, developed for mechanical control systems by locally rendering nonlinear control systems, mechanical by a proper choice of feedback. In particular, we characterize control systems which can be transformed to Hamiltonian control systems by a local feedback transformation.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 2002
- Accession Number
- ADA415605
Entities
People
- George J. Pappas
- Paulo Tabuada
Organizations
- University of California Regents